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By C. T. Leonides
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Extra info for Advances in Algorithms and Computational Techniques in Dynamic Systems Control, Part 3 of 3
The centralized estimator does not process measurements directly, but rather reconstructs the filter state estimates and covariances via information passed from each local estimator. These local subsystems process direct observations, in parallel, and thus allow large numbers of observations to be processed, unlike the case if all were processed centrally by a single processor. There is a direct parallel between the reconstruction of D U state covariances from the T A filter and a decentralized hierarchical system in which the central hierarchical estimator does not receive direct knowledge of the error in its states.
Ic / + ri^fc + i) [ / ( î i f c + 1 1 f c + ) H l ( f c + ( f c i / + ) l ] x ( f c + | l f c ) } . 2 ( 5 ) W h e n 2 ( 5 ) s i s u b u t s e i t d n i o t 2 ( 0 ) h t e g o l b a l u d e c e n z e a r i t d l o f m r , w c h i e r q u e r i s o n y l h t e o l c a l c o v a n i r c e o t b e p a s s e d . T h e o b s e v o r a i n t s a r e , c e n r t a y l . n I o d r e r o t a c h e v i e t h s i , h o w e v e , r h t e c a c l u a e l t d o f r u s e n i ( 2 5 ) . T h s i s i h t e p e r s c e i e w e r d v e i e r d u n s i g h t e n i v e s r e c o v a n i r c e o f m r , p o r d v i e s a s a r g t i h o f t w r a d r m h e o t d o f e r p e r s e n i g t h t e m s iT th tesob a e ids n e m r t s o f h t e o l c a l f i l t e r s a t e t a n d c o lg c a l e v r o a i n t s .
G A I N TRANSFER SIMULATION FOR A DECENTRALIZED HIERARCHICAL ESTIMATOR. S I M U L A T I O N S TO FORMULATE THE T I M E V A R I A B L E STATE T R A N S I T I O N A N D D Y N A M I C STATE M A T R I C E S . T H E S E P A R A M E T E R S DRIVE THE D Y N A M I C S Y S T E M M O D E L S A N D CAUSE THE FILTER STATES TO B E C O M E OBSERVABLE A N D THUS ABLE TO B E E S T I M A T E D . T H E S A M E FLIGHT TRAJECTORY IS USED FOR E A C H S I M U L A T I O N . T H E PROFILE CONSISTS OF A C O O R D I N A T E D T W O M I N U T E FULL " S " TURN FOLLOWED B Y THIRTY S E C O N D S OF STRAIGHT A N D LEVEL FLIGHT.
Advances in Algorithms and Computational Techniques in Dynamic Systems Control, Part 3 of 3 by C. T. Leonides